protected virtual void CreateService(RosTypeInfo rosType, ServiceDescriptor service)
{
if (NameMapper.IsBuiltInType(rosType))
{
return;
}
WriteServiceInternal(rosType);
WriteMessageInternal(rosType, DetailedRosMessageType.ServiceRequest, service.Request);
WriteMessageInternal(rosType, DetailedRosMessageType.ServiceResponse, service.Response);
}
private void WriteMessageInternal(RosTypeInfo rosType, DetailedRosMessageType messageType, MessageDescriptor message)
{
if (messageType == DetailedRosMessageType.None ||
messageType == DetailedRosMessageType.Action ||
messageType == DetailedRosMessageType.Service)
{
throw new ArgumentException($"message type is not detailed enough", nameof(messageType));
}
if (NameMapper.IsBuiltInType(rosType))
{
return;
}
var data = GetMessageTemplateData(rosType, messageType, message);
SanitizeMessageTemplateData(data);
var filePath = _directories.TempDirectory.GetFilePath($"{data.TypeName}.cs");
var content = _templateEngine.Format(MessageTemplateFile, data);
WriteFile(filePath, content);
}
